In dimension 2 (i.e. \(d=2\) ) the result is said to be classical, and in dimension 3 it is attributed to Moise.
In dimension 4 it is due to Quinn [1]}. In dimensions 5 and greater it is due to Kirby [2]}, although for dimension 5 Kirby uses a result of C. T. C. Wall which appeared in [3]}.
A useful succinct discussion of these matters is found in Section 8 of [4]}.
